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Can map_server connect to costmap_2d directly with message or service?

asked 2014-11-15 01:31:58 -0600

scopus
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Hi, all, I want to implement a node that implementing some functionalities based on the map which have to use the costmap_2d. I hope that costmap_2d should received the message from map_server. However, I found there is no direct message exchange betweer map_server and costmap_2d, i.e. not topics or services between them. It seems that the move_base node has to launched beforehand.

Does somebody know that there is some direct way to connect them by launching only map_server and costmap_2d node?

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answered 2014-11-15 14:18:53 -0600

David Lu

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You should be able to create an instance of costmap_2d that directly subscribes to the map. If you're using Hydro or later, make sure you are using the StaticMap layer. If you are using a version earlier than hydro, make sure ~static_map is set to true.

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Asked: 2014-11-15 01:31:58 -0600

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Last updated: Nov 15 '14

Can map_server connect to costmap_2d directly with message or service? edit

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Can map_server connect to costmap_2d directly with message or service?